Thermosetting polymers, commonly used to improve asphalt properties, bring excellent pavement performance, but also pose significant challenges to the healing and recyclability of their modified asphalts after long-term service. An effective approach involves introducing dynamic bonds into the crosslinking networks to synthesize Vitrimer-modified asphalts with self-healing response. Due to the splendid mechanical properties, high elasticity, flexibility and easily controllable cross-linked structure of polyurethane, a novel castor oil-based polyurethane Vitrimer modified asphalt with disulfide bonds and Diels-Alder reactions was developed. Based on the prepared castor oil-based polyurethane Vitrimer (C-PUV, composed of components A and B) and its modified asphalts (C-PUVAs), a comprehensive study was conducted on the crosslinking density, mechanical properties, thermal stability, viscosity, compatibility, rheological properties, and self-healing behavior. The results indicated that C-PUVAs (C-PUVA1/C-PUVA2/C-PUVA3/C-PUVA4) exhibited sufficient retention times for viscosity, uniform phase distribution, and good high-temperature performance. The damaged C-PUVAs achieved a mechanical strength recovery rate more than 75 % after the first cycle of self-healing at 80 ℃ and 0.3 MPa. Furthermore, the crosslinking density of C-PUV was regulated by the segment length of component B. As the crosslinking density increased, C-PUV and C-PUVAs obtained higher mechanical strength while sacrificing part of self-healing efficiency. The mechanism is that increased crosslinking density altered the gel point distributions of the reversible crosslinked networks, resulting in a longer relaxation time and higher activation energy. In conclusion, the above findings provided valuable insights for developing bio-based polyurethane Vitrimer modified asphalts, and endosing thermosetting polymer modified asphalts with self-healing and recyclable properties.